function plotall(plotdata,handles,fig,eventdata)
%plotall(plotdata,handles,fig,eventdata)
%plotdata={time,spos,svel,spose,serror,serror_pose,swibb,sfb,posout,poseout,vout};

time=plotdata{1};         
spos=plotdata{2};           
svel=plotdata{3};           
spose=plotdata{4};         
serror=plotdata{5};        
serror_pose=plotdata{6};     
swibb=plotdata{7};           
sfb=plotdata{8} ;            
ax=handles.ax;

tab=getappdata(fig,'tab');%tab為tab標簽序號
% switch tab
%     case 1,
        if ~eventdata(1)
            drawnow
            return
        end
        data=[spos(:,2)';spos(:,1)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={'rad2d','rad2d'};
         DIS={'la','phi'};
         color={'g'};
        plotaxis=ax(1,1);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %------
         data=[time;spos(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
         DIS={'time','h'};
         color={'g'};
        plotaxis=ax(1,2);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %-------
         data=[time;svel(:,1)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
         DIS={'time','ve'};
         color={'g'};
        plotaxis=ax(1,3);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %-----
        data=[time;spose(:,1)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d'};
         DIS={'time','sita'};
         color={'g'};
        plotaxis=ax(1,4);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %-------
        data=[time;sfb(:,1)';sfb(:,2)';sfb(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1,1};
         DIS={'time','fbx','fby','fbz'};
         color={'g','b','r'};
        plotaxis=ax(1,5);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %--------
        data=[time;svel(:,2)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
         DIS={'time','vn'};
         color={'g','b'};
        plotaxis=ax(1,6);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %------
        data=[time;spose(:,2)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d'};
         DIS={'time','gama'};
         color={'g'};
        plotaxis=ax(1,7);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %----------
        data=[time;swibb(:,1)';swibb(:,2)';swibb(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d','rad2d'};
         DIS={'time','sita_','gama_','fi_'};
         color={'g','b','r'};
        plotaxis=ax(1,8);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %-------
        data=[time;svel(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
         DIS={'time','vu'};
         color={'g'};
        plotaxis=ax(1,9);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end
        %--------
        data=[time;spose(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d'};
         DIS={'time','fi'};
         color={'g'};
        plotaxis=ax(1,10);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==1;
            set(hlines,'visible','on');
        end                    
%    case 2,
        %--------
        data=[time;spos(:,2)';spos(:,2)'+serror(:,8)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','truela','sinsla'};
        color={'g','r'};
        plotaxis=ax(2,1);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2;
            set(hlines,'visible','on');
        end
        %--------
        data=[time;serror(:,8)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        DIS={'time','sinserrorla'};
        color={'r'};
        plotaxis=ax(2,2);
        h=spos(3);phi=spos(1);C2=CC2(phi,h);
        UNITCONVERT={1,1/C2};
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2
           set(hlines,'visible','on');
        end
        %-------------
        data=[time;spos(:,1)';spos(:,1)'+serror(:,7)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','truephi','sinsphi'};
        color={'g','r'};
        plotaxis=ax(2,3);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2;
            set(hlines,'visible','on');
        end
        %---------
        data=[time;serror(:,7)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        DIS={'time','sinserrorphi'};
        color={'r'};
        plotaxis=ax(2,4);
        h=spos(3);phi=spos(1);C1=CC1(phi,h);
        UNITCONVERT={1,1/C1};
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2
           set(hlines,'visible','on');
        end
        %----------------
        data=[time;spos(:,3)';spos(:,3)'+serror(:,9)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1};
        DIS={'time','trueh','sinsh'};
        color={'g','r'};
        plotaxis=ax(2,5);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2;
            set(hlines,'visible','on');
        end
        %-----------
        data=[time;serror(:,9)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        DIS={'time','sinserrorh'};
        color={'r'};
        plotaxis=ax(2,6);
        UNITCONVERT={1,1};
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==2
           set(hlines,'visible','on');
        end     
 %   case 3,
        %---------
         data=[time;svel(:,1)';svel(:,1)'+serror(:,4)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1};
        DIS={'time','trueve','sinsve'};
        color={'g','r'};
        plotaxis=ax(3,1);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
        %---------
         data=[time;serror(:,4)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
        DIS={'time','sinserrorve'};
        color={'r'};
        plotaxis=ax(3,2);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
        %----------
        data=[time;svel(:,2)';svel(:,2)'+serror(:,5)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1};
        DIS={'time','truevn','sinsvn'};
        color={'g','r'};
        plotaxis=ax(3,3);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
        %--------
         data=[time;serror(:,5)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1};
        DIS={'time','sinserrorvn'};
        color={'r'};
        plotaxis=ax(3,4);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
        %-----------
        data=[time;svel(:,3)';svel(:,3)'+serror(:,6)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1,1};
        DIS={'time','truevu','sinsvu'};
        color={'g','r'};
        plotaxis=ax(3,5);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
        %---------
        data=[time;serror(:,6)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,1};
        DIS={'time','sinserrorvu'};
        color={'r'};
        plotaxis=ax(3,6);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==3;
            set(hlines,'visible','on');
        end
 %   case 4,
         %---------
         data=[time;spose(:,1)';spose(:,1)'+serror_pose(:,1)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','truesita','sinssita'};
        color={'g','r'};
        plotaxis=ax(4,1);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
         %---------
         data=[time;serror_pose(:,1)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d'};
        DIS={'time','sinserrorsita'};
        color={'r'};
        plotaxis=ax(4,2);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
         %---------
         data=[time;spose(:,2)';spose(:,2)'+serror_pose(:,2)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','truegama','sinsgama'};
        color={'g','r'};
        plotaxis=ax(4,3);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
          %---------
         data=[time;serror_pose(:,2)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d'};
        DIS={'time','sinserrorgama'};
        color={'r'};
        plotaxis=ax(4,4);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
        %---------
         data=[time;spose(:,3)';spose(:,3)'+serror_pose(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','truephi','sinsphi'};
        color={'g','r'};
        plotaxis=ax(4,5);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
         %---------
         data=[time;serror_pose(:,3)'];
        [draw pos]=size(data);draw=1:draw;pos=1:pos;
        UNITCONVERT={1,'rad2d','rad2d'};
        DIS={'time','sinserrorphi'};
        color={'r'};
        plotaxis=ax(4,6);
        hlines=get(plotaxis,'userdata');
        tplot(data,draw,pos,UNITCONVERT,DIS,color,plotaxis,hlines);
        if getappdata(fig,'tab')==4;
            set(hlines,'visible','on');
        end
%end
drawnow;